CN107767658A - Form a team autonomous vehicle navigation sensor exchange - Google Patents
Form a team autonomous vehicle navigation sensor exchange Download PDFInfo
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- CN107767658A CN107767658A CN201710680521.XA CN201710680521A CN107767658A CN 107767658 A CN107767658 A CN 107767658A CN 201710680521 A CN201710680521 A CN 201710680521A CN 107767658 A CN107767658 A CN 107767658A
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Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/22—Platooning, i.e. convoy of communicating vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
- G05D1/0293—Convoy travelling
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
- G05D1/0295—Fleet control by at least one leading vehicle of the fleet
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
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- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
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- B60W2554/4029—Pedestrians
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4041—Position
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
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Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
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- Transportation (AREA)
- Acoustics & Sound (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
A kind of Vehicular system includes communication interface, and the communication interface is programmed to that the sensor signal from front vehicle transmission is communicated and received with multiple vehicle teams including front vehicle.Vehicular system also includes processor, and it is programmed for order front vehicle and reverses end for end and be programmed to multiple vehicle team output control signals.Control signal at least one is advanced according to what the sensor signal that is received from front vehicle controlled in multiple vehicle teams in astern direction.
Description
Technical field
This patent disclosure relates generally to autonomous vehicle control field, and relate more specifically to the control system of autonomous vehicle fleet
And method.
Background technology
In high level, fleet is that one group of vehicle follows each other.The vehicle of leader is by human driver or Virtual drivers
(that is, with autonomous mode) control.Remaining vehicle in fleet is operated with autonomous or autonomous part pattern, is abided by a manner of tandem
Follow the route of leader's vehicle.The benefit of fleet include due to reduce air drag, the traffic congestion etc. of reduction and it is caused higher
Fuel economy.
The content of the invention
According to the present invention, there is provided a kind of Vehicular system, including：
Communication interface, communication interface are programmed to communicate with including multiple vehicle teams of front vehicle, and reception from
The sensor signal of front vehicle transmission；And
Processor, processor are programmed for the u-turn of order front vehicle and to multiple vehicle team output control signals,
Wherein control signal at least one is being moved backward according to what the sensor signal that is received from front vehicle controlled in multiple vehicle teams
Side travels upwardly.
According to one embodiment of present invention, wherein front vehicle includes being programmed for the forward direction of output sensor signal
Sensor, and wherein processor is programmed to be transmitted according to the sensor signal of the forward sense device output by front vehicle
Control signal.
According to one embodiment of present invention, wherein order front vehicle u-turn includes：Order front vehicle is relative to more
At least another vehicle in individual vehicle team is moved to face rearwardly direction from direction forward.
According to one embodiment of present invention, wherein controlling at least one up in astern direction in multiple vehicle teams
Enter including：Order at least one vehicle in multiple vehicle teams in addition to front vehicle along astern direction forward simultaneously
Just advance.
According to one embodiment of present invention, wherein processor is programmed to according to the laser thunder being attached in front vehicle
Control signal is produced up to sensor.
According to one embodiment of present invention, wherein processor is programmed to be passed according to the radar being attached in front vehicle
Sensor produces control signal.
According to one embodiment of present invention, wherein processor is programmed to according to the ultrasonic wave being attached in front vehicle
Sensor produces control signal.
According to one embodiment of present invention, wherein processor is programmed to according to the video camera being attached in front vehicle
Produce control signal.
According to the present invention, there is provided a kind of Vehicular system, including：
Autonomous driving sensor；
Communication interface, communication interface are programmed to communicate with including multiple vehicle teams of front vehicle, and reception from
The sensor signal of front vehicle transmission；And
Processor, processor are programmed for the u-turn of order front vehicle and to multiple vehicle team output control signals,
Wherein control signal at least one is being moved backward according to what the sensor signal that is received from front vehicle controlled in multiple vehicle teams
Side travels upwardly.
According to one embodiment of present invention, wherein front vehicle includes being programmed for the forward direction of output sensor signal
Sensor, and wherein processor is programmed to be transmitted according to the sensor signal of the forward sense device output by front vehicle
Control signal.
According to one embodiment of present invention, wherein order front vehicle u-turn includes：Order front vehicle is relative to more
At least another vehicle in individual vehicle team is moved to face rearwardly direction from direction forward.
According to one embodiment of present invention, wherein controlling at least one up in astern direction in multiple vehicle teams
Enter including：Order in multiple vehicle teams in addition to front vehicle it is at least one along astern direction simultaneously face forward it is capable
Enter.
According to one embodiment of present invention, wherein processor is programmed to according to the laser thunder being attached in front vehicle
Up at least one generation control signal in sensor, radar sensor, ultrasonic sensor and video camera.
According to the present invention, there is provided a kind of method, including：
It is determined that the multiple vehicles advanced in fleet need to advance along astern direction；
Front vehicle u-turn in order fleet；
Sensor signal is received from front vehicle；And
Transmitted along astern direction and advanced according to multiple vehicles of the sensor signal received from front vehicle into fleet
Control signal.
According to one embodiment of present invention, wherein front vehicle includes being programmed for the forward direction of output sensor signal
Sensor, and this method further comprises producing control according to the sensor signal exported by the forward sense device of front vehicle
Signal.
According to one embodiment of present invention, wherein order front vehicle u-turn includes：Order front vehicle is relative to more
At least another vehicle in individual vehicle team is moved to face rearwardly direction from direction forward.
According to one embodiment of present invention, wherein controlling at least one up in astern direction in multiple vehicle teams
Enter including：Order at least one along astern direction simultaneously face forward in multiple vehicle teams in addition to front vehicle
Advance.
Brief description of the drawings
Fig. 1 is shown with the example leader's vehicle for being used for the vehicle group system that fleet is controlled in astern direction；
Fig. 2 is the block diagram for the exemplary components for showing vehicle group system；
Fig. 3 shows the vehicle team advanced in a forward direction；
Fig. 4 shows the control signal according to the vehicle group system output being attached in leader's vehicle along astern direction row
The vehicle team entered；
Fig. 5 can be performed by vehicle group system to control the flow of example procedure that fleet advances along astern direction
Figure.
Embodiment
It is mobile that fleet is designed in one direction --- i.e. forward direction ---.That is, all vehicles both facing to
Identical direction, and the direction movement faced towards them.However, it is complicated fleet is moved along astern direction.Vehicle
Moved along astern direction generally relatively inefficient.In addition, the sensor that operation autonomous vehicle is relied on is in direction forward
It is upper generally more more complicated than in the rearwardly direction of face.
However, occurs the situation for needing fleet's reversing mobile sometimes.If for example, fleet run into unexpected road closed or
Build, and the vehicle in fleet does not have enough space u-turns.A kind of method for solving this problem is interim dismission fleet
And reformulate fleet after each car u-turn.However, it is possible to coordinate this action without enough spaces or time.It is another
Kind selection is that the front vehicle simply allowed in fleet turns into interim leader's vehicle, while entirely fleet moves along astern direction.
However, as above, the sensor of front vehicle may be not complicated enough, is insufficient to allow other vehicles in its own and fleet at this
Operated on direction.Further, front vehicle may not have the computing capability for undertaking such task.
Another solution includes the vehicle group system in leader's vehicle, and it uses the forward sense device of front vehicle
With the computing capability of leader's vehicle whole fleet is moved temporarily along astern direction.For example, vehicle group system includes programming
For the communication interface to be communicated with the vehicle team including front vehicle.Communication interface receives the biography from front vehicle transmission
Sensor signal.Vehicle group system also includes processor, processor be programmed for controlling front vehicle u-turn (that is, relative to
Remaining vehicle of vehicle team is towards astern direction), and be further programmed to multiple vehicle team output control signals.Control
Signal processed controls at least one in astern direction in multiple vehicle teams according to the sensor signal received from front vehicle
Advance.
Using the system, leader's vehicle keeps the control to fleet, and has benefited from the forward sense device of front vehicle.When
Fleet complete astern direction traveling when, leader vehicle can order front vehicle reverse end for end again (that is, relative to vehicle team
Remaining vehicle is towards direction facing forward), and can be continued to guide fleet according to the sensor of its own.
Shown element can take a number of different forms, and including multiple and/or alternative part and facility.Institute
The exemplary components shown are not intended to limit.Indeed, it is possible to use part add or optional and/or embodiment.Enter one
Step ground, unless explicitly stated, shown element is not drawn necessarily to scale.
As shown in figure 1, the main vehicle 100 as leader's vehicle in fleet includes system 105 of forming a team, system of forming a team 105
Other vehicles transmitted control signals in fleet.Control signal can coordinate the associated movement of vehicle in fleet, including make
Fleet moves along astern direction.For example, system 105 of forming a team can determine whether fleet needs to move along astern direction.Form a team be
System 105 can make following confirmation：Such as whether road accidental switches off or block, whether leader's vehicle misses turning etc..Certainly
Determine before whether fleet turn direction, system of forming a team 105 can determine whether whole fleet can simply reverse end for end.For example, group
Team's system 105 can determine main vehicle 100 whether can be performed (as leader's vehicle) in u turn and fleet it is all its
Whether he can follow the manipulation by vehicle.
If fleet can not carry out u turn, system of forming a team 105 can determine whether main vehicle 100 should remain car
Leader's vehicle in team, or fleet control whether be transferred to front vehicle.If front vehicle does not have equipment to be used for
Fleet's (for example, front vehicle calculating or communication capacity without control fleet) is controlled, then system of forming a team 105 can keep car
The control of team.In doing so, system of forming a team 105 can indicate that the front vehicle in fleet is reversed end for end (that is, relative in fleet
Remaining vehicle is towards rear), and start to the main transmission signal of vehicle 100, when being moved in astern direction, although main vehicle
100 at " rear " of fleet, but it is still used as leader's vehicle.Before the signal of front vehicle transmission can come from front vehicle
To sensor (for example, forward direction laser radar sensor, forward radar sensor, forward ultrasonic sensor or forward direction video camera
One or more of).Therefore, can be according to the forward sense device control of front vehicle using the system of forming a team 105, main vehicle 100
Make along the vehicle in the fleet of astern direction.
Although being shown with car, main vehicle 100 can include any riding or commercial vehicles, such as car,
Lorry, transboundary sport vehicle, car, van, light van, taxi, bus etc..It is feasible at some
Method in, vehicle can be operated with autonomous (such as non-driver) pattern, part autonomous mode and/or non-autonomous pattern
Autonomous vehicle.
Referring now to Figure 2, fleet systems 105 can include communication interface 110, autonomous driving sensor 115 and processor
120 or in connection work.
Promote to set with other vehicles or basis via circuit, chip or for example, by Dedicated Short Range Communications (DSRC) agreement
Other electronic units of the radio communication of device are applied to implement communication interface 110.Communication interface 110 can be programmed to other
Vehicle and infrastructure equipment are wirelessly transmitted message and receive from it message.The message received can be transferred to main vehicle
100 miscellaneous part, such as processor 120.For example, communication interface 110 can transmit the control signal as caused by processor 120,
The control signal is related to the vehicle (including front vehicle) in control fleet.In addition, communication interface 110 can be received from fleet
In other vehicles (including front vehicle) transmission signal.The example of this signal includes the forward sense device by front vehicle
The signal of output.Can be according to any amount of wireless communication protocol (including DSRC) come transmission of control signals.
Autonomous driving sensor 115 monitors the region around main vehicle 100, and exports and can be used for autonomous or part independently
The signal of the main vehicle 100 of Schema control.The example of autonomous driving sensor 115 include laser radar sensor, radar sensor,
Ultrasonic sensor, vision sensor (such as video camera) etc..Autonomous driving sensor 115 can be sensed around main vehicle 100
Region and identify potential object.For example, autonomous driving sensor 115 can be programmed for detect road, lane markings,
Traffic control device, traffic sign etc..Further, autonomous driving sensor 115 can be programmed for identifying other vehicles,
Cyclist, pedestrian etc..Autonomous driving sensor 115 can export the signal for the various objects for representing to detect.Independently drive
Sailing sensor 115 can be to such as output signal of processor 120.
Processor 120 is via circuit, chip or can control some operations related to guiding the fleet of other vehicles
Other electronic units are implemented.Processor 120 can be programmed for planning the path of fleet, determine whether fleet needs to turn
Direction and the reversion in control fleet direction.For example, processor 120 can be programmed to, if fleet is needed along astern direction
Advance, as long as then front vehicle determines that it has calculating and the communication capacity that fleet is controlled along astern direction, then by the control of fleet
System gives front vehicle temporarily., if it is not, then processor 120 is programmed to keep the control to fleet.
If processor 120 determines to keep control to fleet, processor 120 can the u-turn of order front vehicle (i.e.,
Relative to other vehicles in fleet towards astern direction).For example, processor 120 can pass signal via communication interface 110
Defeated to arrive front vehicle, it indicates that front vehicle is moved to face rearwardly direction from direction forward (relative to main vehicle 100)
(relative to main vehicle 100).Square vehicle is in after the rearwardly direction of face after validation, and processor 120 can indicate rear car
Start the sensor signal that transmission comes from behind the forward sense device of vehicle.The sensor signal received from front vehicle can be with
Including the biography as caused by the forward direction laser radar sensor in front vehicle, radar sensor, ultrasonic sensor or video camera
Sensor signal.
After receiving and handling these sensor signals, processor 120 can be programmed to according to the sensing received
Device signal produces control signal and control signal is transferred to other vehicles in fleet.Although face forward, control letter
Number it can indicate that all vehicles in fleet in addition to front vehicle are advanced relative to main vehicle 100 along astern direction.Control letter
Front vehicle number be would further indicate along relative to being advanced in front vehicle forward direction.In other words, front vehicle is relative
Advanced in the remainder of fleet along astern direction, but unlike other vehicles, front vehicle will be towards the astern direction.
Therefore, processor 120 can control the operation of fleet, and all cars in fleet according to the forward sense device of front vehicle
It will move in same direction, although front vehicle and other vehicles in fleet are towards different directions.
Fig. 3 shows the multiple vehicles advanced in fleet along forward direction 305.Vehicle include main vehicle 100 (as
Lead a group vehicle), front vehicle 310 and another vehicle 315.Although the fleet is shown as only having three cars, fleet can have
There is the vehicle of as little as two vehicles (such as only main vehicle 100 and front vehicle 310) or more quantity.In some cases, car
The scale of team can be with significantly larger (such as about 25 car or more).As shown in figure 3, all vehicles are towards as direct of travel
Front 305.Further, communication link 320A and 320B is used to transmit information between it in the vehicle of fleet.For example,
Communication link 320A can be used for main vehicle 100 and be communicated with one of them other vehicle 315, and one of them other vehicle 315 can
To be communicated using communication link 320B with front vehicle 310.In some cases, communication link 320A, which may indicate that, carrys out Autonomous Vehicles
100 broadcast communication.Therefore, communication link 320A can be used for being communicated with multiple vehicles in fleet, including rear
Vehicle 310 and other vehicles 315.
Fig. 4 shows the vehicle in the fleet advanced along astern direction 405.Vehicle includes main vehicle 100 (as leader's car
), front vehicle 410 and another vehicle 415.Although Fig. 4 fleet is shown as only having three cars, the vehicle can have
The as little as vehicle of two cars (such as only main vehicle 100 and front vehicle 410) or more quantity.In some cases, fleet
Scale can be with significantly larger (such as about 25 car or more).
With the fleet shown in Fig. 3 on the contrary, the main vehicle 100 and other vehicle 415 are towards opposite with direct of travel 405
Forward direction.Front vehicle 405 has been instructed to reverse end for end and advance at full speed along astern direction 405, and the direction is traveling side
To.In this way, the forward sense device of front vehicle 410 can be used for sensing the region on the direct of travel of fleet.
On Fig. 4 fleet, communication link 420A and 420B are used to transmit information between it in the vehicle of fleet.Example
Such as, communication link 420A can be used for main vehicle 100 with can use communication link 420B be communicated with front vehicle 410 other
One of vehicle 415 is communicated.In some cases, communication link 420A may indicate that the broadcast communication for carrying out autonomous vehicle 100.
Therefore, communication link 420A can be used for and multiple vehicle communications in fleet, including front vehicle 410 and other vehicles 415.
Fig. 4 shows other communication link 420C, and it can be used for passing the sensor signal from front vehicle 410
It is defeated to arrive main vehicle 100.For example, sensor signal can be via communication link as caused by the forward sense device of front vehicle 410
410C is transferred to main vehicle 100.The control signal for being transferred to other vehicles via such as communication link 420A by main vehicle 100 can
With based on the sensor signal received from front vehicle 410.
Fig. 5 can be performed by vehicle group system 105 with the example procedure of the vehicle in astern direction control fleet
500 flow chart.Program 500 can start in main vehicle 100 as any time of leader's vehicle in fleet.When main vehicle
100 when not being re-used as leader's vehicle in fleet, and program 500 can terminate.
In decision block 505, vehicle group system 105 determines whether fleet operates along forward direction.For example, processor
The signal that the 120 autonomous driving sensors 115 that can monitor main vehicle 100 export, to determine whether fleet should advance forward.
If it is, the then repeat block 505 of program 500, until fleet needs to stop or moves backward, now program 500 can be carried out
To frame 510.
In decision block 510, vehicle group system 105 determines whether fleet needs to move along astern direction.For example, processor
120 can determine that fleet needs to move in astern direction based on the signal exported by autonomous driving sensor 115, the signal
Show to have object blocks road and fleet can not bypass, miss turning etc..If processor 120 determines that fleet is needed along reversing
Direction is moved, then program 500 may proceed to frame 515.If fleet need not move in astern direction, this is likely to occur car
Team is temporarily ceased, problem (i.e. road stop) is eliminated or processor 120 determines the situation in another path, then program 500 can be with
Return to frame 505.
In decision block 515, vehicle group system 105 determines whether rear car should be made when fleet moves along astern direction
Turn into leader vehicle.For example, processor 120 is it is contemplated that whether front vehicle has appropriate sensor, calculating and communication
Ability serves as interim leader's vehicle.Processor 120 can be received from front vehicle via the communication of such as vehicle to vehicle and closed
In the signal of the ability of front vehicle.If processor 120 determines that front vehicle is provided as being used as interim leader's vehicle, journey
Sequence 500 may proceed to frame 520.Otherwise, program 500 may proceed to frame 530.
In frame 520, the control of fleet is transferred to front vehicle by vehicle group system 105.The control for shifting fleet can be with
Including the command communication interface 110 of processor 120 rearward vehicle transmission message, it indicates that front vehicle is used as interim leader's car
.
In decision block 525, vehicle group system 105 determines whether backing maneuvers are completed.That is, processor 120 can
To receive the signal for coming from behind vehicle (it as above temporarily serves as leader's vehicle), the signal shows that fleet is no longer needed along reversing
Move in direction.Alternatively, processor 120 can constantly monitor the position for the fleet advanced along astern direction, and via communication
Interface 110 completes backing maneuvers to be communicated to front vehicle.When it is completed, program 500 may proceed to frame 560.Otherwise, program
500 can continue executing with frame 525, until backing maneuvers have been completed.
In frame 530, the u-turn of the order front vehicle of vehicle group system 105.That is, processor 120 connects via communication
110 order front vehicles of mouth face in opposite directions relative to remaining vehicle in fleet.So, front vehicle positively direction
Backing maneuvers, and the every other vehicle in fleet is advanced along astern direction.
In decision block 535, vehicle group system 105 waits the confirmation that front vehicle has been reversed end for end and alignd with fleet.Place
Reason device 120 can wait to be received really via communication interface 110 by using the communication of the vehicle with front vehicle to vehicle
Recognize signal.Upon reception of the confirmation, program 500 may proceed to frame 540.
In frame 540, vehicle group system 105 receives sensor signal from front vehicle.The sensor signal received can
Be by front vehicle forward sense device output sensor signal.The processor 120 of main vehicle 100 can connect via communication
Mouth 110 simultaneously receives sensor signal according to the communication protocol of vehicle to vehicle.
In frame 545, vehicle group system 105 controls the fleet along astern direction.For example, processor 120 can be based on
The sensor signal received at frame 540 carrys out output control signal.Processor 120 can be via communication interface 110 and according to car
Other vehicles transmitted control signals to the communication protocol of vehicle in fleet.Because front vehicle is towards different directions
(such as forward direction), can be with the control for other vehicles being transferred in fleet for transmission to the control signal of front vehicle
Signal processed is different.
In decision block 550, vehicle group system 105 determines whether car backing operation has been completed.For example, processor 120 can
Constantly to monitor the position for the fleet advanced along astern direction, and determine whether fleet can recover the behaviour along forward direction
Make.When car backing operation has been completed, program 500 may proceed to frame 555.Otherwise, program 500 can continue executing with frame 550,
Until car backing operation has been completed.
In frame 555, the u-turn of the order front vehicle of vehicle group system 105.That is, processor 120 can be via logical
Believe that interface 110 sends instruction front vehicle towards the order with other vehicle equidirectionals in fleet.Confirm in front vehicle
Have been rotated through coming and prepare after starting to operate together with the remaining vehicle of fleet along forward direction, program 500 can be entered
Row arrives frame 560.
In frame 560, vehicle group system 105 recovers the control along the fleet in forward direction.For example, processor 120
Other vehicle output controls letter into fleet can be started according to the autonomous driving sensor 115 being attached in main vehicle 100
Number.
Generally, computer system and/or device can use any amount of computer operating system, including but unlimited
In the synchronous (Ford of the Ford of various versions and/or various variants) operating system, in App links/smart machine connection
Between part, MicrosoftOperating system, MicrosoftOperating system, Unix operating systems are (such as by adding
The Shores Oracle distribution in Li Funiya statesOperating system), by Armonk, New York international business machine
The AIX UNIX operating systems of device company distribution, (SuSE) Linux OS, the Mac issued by the Apple Inc. of California
OSX and iOS operating systems, by Canadian Waterloo Blackberry Ltd. distribution blackberry, blueberry OS and by Google and opening
The Android operation system of mobile phone alliance exploitation is provided by QNX software systemsInfotainment vehicle platform.Meter
Calculate device example include but is not limited to on-vehicle vehicle computer, computer workstation, server, desktop computer, notebook computer,
Portable computer or palm PC or some other computing systems and/or device.
Computing device generally comprises computer executable instructions, wherein the instruction can by for example those listed above
One or more computing devices perform.Computer executable instructions can be compiled or explained, the computer by computer program
Program is created using a variety of programming languages and/or technology, these programming languages and/or technology including but not limited to individually or
JavaTM, C of combination, C++, Visual Basic, Java Script, Perl etc..Some in these applications can be such as
Compile and perform on the virtual machines such as Java Virtual Machine, Dalvik virtual machine.Generally, processor (such as microprocessor) for example from
The receptions such as memory, computer-readable medium instruct, and perform these instructions, thus perform one or more programs, including
One or more programs as described herein.Such instruction and other data can be deposited using various computer-readable mediums
Storage and transmission.
Computer-readable medium (also referred to as processor readable medium) includes participating in providing any of data (such as instruction)
Non-transitory (such as tangible) medium, the data can be read by computer (such as passing through computer processor).It is such
Medium can take various forms, including but not limited to non-volatile media and Volatile media.Non-volatile media includes example
Such as CD or disk and other permanent memories.Volatile media include for example typically constituting the dynamic of main storage with
Machine access memory (DRAM).Such instruction can pass through one or more some transmission mediums, including coaxial cable, copper cash
And optical fiber, including cable, the cable include the system bus for being connected to computer processor.The conventional shape of computer-readable medium
Formula includes, such as floppy disk, flexible disk, hard disk, tape, any other magnetic medium, CD-ROM (compact disc-ROM), DVD (numbers
Word video disc), any other optical medium, card punch, paper tape, any other physical mediums, RAM with sectional hole patterns
(random access memory), PROM (programmable read only memory), EPROM (EPROM), FLASH-
EEPROM (flash Electrically Erasable Read Only Memory), any other memory chip or memory cartridge or computer-readable
Any other medium taken.
Database, data storage bank or other data storages herein can include being used to store, access and retrieve respectively
The various mechanisms of kind of data, including file set in hierarchical data base, file system, the application database of proprietary format, relation
Data base management system (RDBMS) etc..Each such data storage generally includes that those computers are grasped as described above in use example
Make in the computing device of one of system, and pass through network access any one or more of in many ways.File system
It can be accessed from computer operating system, file system can include the file stored in various formats.RDBMS is except using wound
Outside the language for building, store, editing and performing storing process, generally use SQL (SQL), as described above
PL/SQL (procedural language/SQL) language.
In some instances, system element can be used as computer-readable instruction (such as software) to be calculated in one or more
Implement in device (such as server, personal computer etc.), be stored in computer-readable medium (such as disk, the memory of correlation
Deng) on.Computer program product, which can include to be stored in, is used for the such finger for implementing function herein in computer-readable medium
Order.
On program here, system, method, inspiration etc., it should be understood that although the step of such program etc. describes
To arrange generation in a certain order, but such program can be by with the order completion outside order described herein
Step is described to be implemented.Further it is appreciated that some steps can perform simultaneously, other steps can be added,
Or some steps here can be omitted.In other words, there is provided the explanation of program is used for the purpose for illustrating some embodiments here,
And it should not be construed in any way to limit its claim.
Accordingly, it should be understood that the purpose of description above illustrates rather than limitation.Pass through reading saying above
Bright book, many embodiments and application in addition to the example of offer will be apparent from.The scope of the present invention should refer to appended
Whole equivalent scopes that claim and claim are enjoyed and determine, rather than determined with reference to description above.
It is anticipated that and be contemplated that technology discussed herein will appear from further developing, and disclosed system and method
It will be attached in the embodiment in such future.In a word, it should be understood that the present invention can be modified and change.
Used all terms are intended to give its technology recognized with technical field here in the claims
The most frequently used meaning that personnel are understood, unless being made that clearly opposite instruction herein.Particularly singular article --- such as
" one ", "the", " " etc. --- use be construed as element shown in narration one or more, unless claims state is bright
Really opposite limitation.
Summary of the invention is provided to allow reader quickly to determine the essence of disclosed technical scheme.It should be understood that
It is to submit summary to be not intended to explain or limit the scope or implication of claim.In addition, in previous embodiment,
It can be seen that in order to simplify the purpose of present invention, various features are grouped together in embodiments.This disclosure
Method is not necessarily to be construed as reflecting the meaning that embodiment needs the more features than clearly stating in each claim.Conversely
, as reflected in the claims below, the theme of invention is, fewer than all features of single the disclosed embodiments.
Therefore, following claims are attached in embodiment at this, and each claim guarantor independent as one
Protect theme and exist.
Claims (17)
1. a kind of Vehicular system, including：
Communication interface, the communication interface are programmed to communicate with including multiple vehicle teams of front vehicle, and reception from
The sensor signal of the front vehicle transmission；And
Processor, the processor are programmed for front vehicle u-turn described in order and exported to the multiple vehicle team
Control signal, wherein the control signal controls the multiple group according to the sensor signal received from the front vehicle
At least one being advanced in astern direction in team's vehicle.
2. Vehicular system according to claim 1, wherein the front vehicle includes being programmed for exporting the sensing
The forward sense device of device signal, and wherein described processor is programmed to according to the forward sense by the front vehicle
The sensor signal of device output transmits the control signal.
3. Vehicular system according to claim 1, wherein ordering the front vehicle u-turn to include:Order the rear car
It is moved to face rearwardly direction from direction forward relative at least another vehicle in the multiple vehicle team.
4. Vehicular system according to claim 1, wherein control in the multiple vehicle team at least one is moving backward
Side travel upwardly including：The edge of at least one vehicle in the multiple vehicle team in addition to the front vehicle is ordered to be fallen
Advance to face forward simultaneously in car direction.
5. Vehicular system according to claim 1, wherein the processor, which is programmed to basis, is attached to the rear car
Laser radar sensor in produces the control signal.
6. Vehicular system according to claim 1, wherein the processor, which is programmed to basis, is attached to the rear car
Radar sensor in produces the control signal.
7. Vehicular system according to claim 1, wherein the processor, which is programmed to basis, is attached to the rear car
Ultrasonic sensor in produces the control signal.
8. Vehicular system according to claim 1, wherein the processor, which is programmed to basis, is attached to the rear car
Video camera in produces the control signal.
9. a kind of Vehicular system, including：
Autonomous driving sensor；
Communication interface, the communication interface are programmed to communicate with including multiple vehicle teams of front vehicle, and reception from
The sensor signal of the front vehicle transmission；And
Processor, the processor are programmed for front vehicle u-turn described in order and exported to the multiple vehicle team
Control signal, wherein the control signal controls the multiple group according to the sensor signal received from the front vehicle
At least one being advanced in astern direction in team's vehicle.
10. Vehicular system according to claim 9, wherein the front vehicle includes being programmed for exporting the sensing
The forward sense device of device signal, and wherein described processor is programmed to according to the forward sense by the front vehicle
The sensor signal of device output transmits the control signal.
11. Vehicular system according to claim 9, wherein ordering the front vehicle u-turn to include：Order the rear
Vehicle is moved to face rearwardly direction relative at least another vehicle in the multiple vehicle team from direction forward.
12. Vehicular system according to claim 9, wherein control in the multiple vehicle team at least one is moving backward
Side travel upwardly including：Order at least one along astern direction in the multiple vehicle team in addition to the front vehicle
Advance to face forward simultaneously.
13. Vehicular system according to claim 9, wherein the processor, which is programmed to basis, is attached to the rear car
At least one generation control in laser radar sensor, radar sensor, ultrasonic sensor and video camera in
Signal.
14. a kind of method, including：
It is determined that the multiple vehicles advanced in fleet need to advance along astern direction；
The front vehicle in the fleet is ordered to be reversed end for end；
Sensor signal is received from the front vehicle；And
According to multiple vehicles transmission edge reversing of the sensor signal received from the front vehicle into the fleet
The control signal that direction is advanced.
15. according to the method for claim 14, wherein the front vehicle includes being programmed for exporting the sensor
The forward sense device of signal, and methods described further comprises exporting according to by the forward sense device of the front vehicle
The sensor signal produce the control signal.
16. according to the method for claim 15, wherein ordering the front vehicle u-turn to include：Order the front vehicle
Relative at least another vehicle in the multiple vehicle team face rearwardly direction is moved to from direction forward.
17. according to the method for claim 15, wherein controlling at least one in reversing side in the multiple vehicle team
Travel upwardly including：Order at least one along astern direction in the multiple vehicle team in addition to the front vehicle
Advance to face forward simultaneously.
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| US15/236,803 | 2016-08-15 |
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| CN (1) | CN107767658B (en) |
| DE (1) | DE102017118539A1 (en) |
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| 廖爽: "汽车队列控制技术研究与应用", 《万方数据知识服务平台》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111256721A (en) * | 2020-02-24 | 2020-06-09 | 西安极蜂天下信息科技有限公司 | Navigation method and device |
| WO2022127440A1 (en) * | 2020-12-15 | 2022-06-23 | 腾讯科技（深圳）有限公司 | Vehicle platoon driving control method and apparatus, electronic device and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| MX2017010232A (en) | 2018-09-18 |
| GB2555683A (en) | 2018-05-09 |
| GB201712836D0 (en) | 2017-09-27 |
| US10068485B2 (en) | 2018-09-04 |
| RU2017128492A (en) | 2019-02-11 |
| US20180047293A1 (en) | 2018-02-15 |
| CN107767658B (en) | 2022-02-08 |
| DE102017118539A1 (en) | 2018-02-15 |
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